2022
Design and Control of a Novel Leg-Arm Multiplexing Mobile Operational Hexapod Robot
RA-L 2022
A novel legged robot with 6 limbs driven by 20 proprioceptive motors, named SDUHex, is proposed in this letter. The limbs located at the middle of the robot can work as manipulators or locomotors. The topology design of the multi-mode robot is introduced and the kinematics and dynamics of the robot